WO2020056267A8 - Stable balance controller - Google Patents

Stable balance controller Download PDF

Info

Publication number
WO2020056267A8
WO2020056267A8 PCT/US2019/051027 US2019051027W WO2020056267A8 WO 2020056267 A8 WO2020056267 A8 WO 2020056267A8 US 2019051027 W US2019051027 W US 2019051027W WO 2020056267 A8 WO2020056267 A8 WO 2020056267A8
Authority
WO
WIPO (PCT)
Prior art keywords
controller
state
signal
input
feedback circuit
Prior art date
Application number
PCT/US2019/051027
Other languages
French (fr)
Other versions
WO2020056267A1 (en
Inventor
Katsu Yamane
Chihiro Kurosu
Original Assignee
Honda Motor Co., Ltd.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Honda Motor Co., Ltd. filed Critical Honda Motor Co., Ltd.
Publication of WO2020056267A1 publication Critical patent/WO2020056267A1/en
Publication of WO2020056267A8 publication Critical patent/WO2020056267A8/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
    • B62K11/007—Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/4155—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by programme execution, i.e. part programme or machine function execution, e.g. selection of a programme
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0008—Balancing devices
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36249—Generate automatically a balance program for workpiece, dynamic balance

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Manipulator (AREA)
  • Feedback Control In General (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

According to one aspect, a control system for providing stable balance control may include an H∞ controller, a state-feedback circuit, a first feedback loop, and a second feedback loop. The control system may be implemented in a robot as a controller for the robot. The H∞ controller may receive an input signal and generate a control effort signal. The state-feedback circuit may receive the control effort signal as an input and generate an output signal. The feedback loop may include the H∞ controller and the state-feedback circuit and may transfer the output signal of the state-feedback circuit back to the input of the H∞ controller and input a tracking error input signal to the H∞ controller. The tracking error input signal may be the difference between the output signal of the state-feedback circuit and the input signal.
PCT/US2019/051027 2018-09-14 2019-09-13 Stable balance controller WO2020056267A1 (en)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US201862731290P 2018-09-14 2018-09-14
US62/731,290 2018-09-14
US16/375,111 2019-04-04
US16/375,111 US11407467B2 (en) 2018-09-14 2019-04-04 Stable balance controller

Publications (2)

Publication Number Publication Date
WO2020056267A1 WO2020056267A1 (en) 2020-03-19
WO2020056267A8 true WO2020056267A8 (en) 2020-09-24

Family

ID=69772372

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2019/051027 WO2020056267A1 (en) 2018-09-14 2019-09-13 Stable balance controller

Country Status (2)

Country Link
US (1) US11407467B2 (en)
WO (1) WO2020056267A1 (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112230547A (en) * 2020-10-26 2021-01-15 哈尔滨工程大学 Supercavitation navigation body H∞Controller design method
CN115235732B (en) * 2022-07-19 2023-08-29 哈尔滨工业大学 Multimode switching supercavitation navigation body acceleration section dynamics analysis method

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6302230B1 (en) 1999-06-04 2001-10-16 Deka Products Limited Partnership Personal mobility vehicles and methods
CN1267795C (en) * 1999-10-05 2006-08-02 株式会社山武 Design device of controller
FR2941311B1 (en) * 2009-01-16 2012-10-26 Messier Bugatti METHOD FOR MANAGING THE ORIENTATION CONTROL OF AN AIRCRAFT INTERFERENCE
WO2010095272A1 (en) * 2009-02-18 2010-08-26 トヨタ自動車株式会社 State feedback control device, state feedback controller and state feedback control method
US10604236B2 (en) * 2016-06-01 2020-03-31 Regents Of The University Of Minnesota Fault-tolerant aircraft flight control using a subset of aerodynamic control surfaces

Also Published As

Publication number Publication date
US11407467B2 (en) 2022-08-09
WO2020056267A1 (en) 2020-03-19
US20200086941A1 (en) 2020-03-19

Similar Documents

Publication Publication Date Title
WO2019121576A3 (en) Modular automated music production server
EP4277104A3 (en) Multiple-output converter and control thereof
EP2804316A3 (en) Signal processing circuit, resolver digital converter, and multipath nested mirror amplifier
WO2020056267A8 (en) Stable balance controller
WO2016076935A3 (en) Superconducting phase-shift system
EP3614227A3 (en) Dual loop low dropout regulator system
JP2017505092A5 (en)
EP3279680A3 (en) Systems and methods for reducing high order hall plate sensitivity temperature coefficients
EP4325238A3 (en) Magnetic field sensor having alignment error correction
WO2019074727A8 (en) Dual-path digital-to-time converter
JP2018171666A5 (en) Control device and robot system
RU2018109104A (en) REGULATED CONTROL SYSTEM
JP2017509198A5 (en)
WO2018078511A3 (en) Power converter with predictive pulse width modulator
WO2018068040A8 (en) Systems and methods for communication and/or control of scalable, modular network nodes
US20170040916A1 (en) Motor control device and motor control method
CN102792242A (en) Power supply transient response improving
GB2575934A (en) Calibration for amplifier with configurable final output stage
AU2016200042A1 (en) Controlling a digging attachment along a path or trajectory
GB2556602A (en) Multi-phase buck converter with phase individual output voltage error feedback with transconductance amplifier
WO2015189150A3 (en) Feedback delay reduction in force feedback devices
WO2007112156A3 (en) Pwm feedback/feed-forward protection
CA3090643C (en) A hearing assistance device that uses one or more sensors to autonomously change a power mode of the device
JP2019530426A (en) DC voltage converter control device, DC voltage converter, and DC voltage converter control method
MY188631A (en) Amplifier

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19859776

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 19859776

Country of ref document: EP

Kind code of ref document: A1